Wearable human body power assisting device

Abstract

The wearable human body power assisting device comprises a series elastic driver, a tail end power assisting structure, a rope transmission mechanism and a pulley, the pulley is installed on the series elastic driver and the tail end power assisting structure, and the series elastic driver drives the tail end power assisting structure through the rope transmission mechanism; the series elastic driver comprises a driving motor, a lead screw, springs, a spring mounting frame, a first pulley mounting frame, a second pulley mounting frame and a lead screw nut, the output end of the driving motor is connected with the lead screw, the lead screw nut is in threaded connection with the lead screw, the two springs penetrate through the lead screw and are arranged in the spring mounting frame, and the lead screw nut is located between the two springs. The first pulley installation frame and the second pulley installation frame are connected to the left side and the right side of the spring installation frame respectively, and pulleys are installed on the first pulley installation frame and the second pulley installation frame. Auxiliary torque output under flexible force control is achieved through the series elastic drivers, and corresponding tail end power assisting structures can be used according to different use scenes.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and more specifically, to a wearable human assistive device. Background Technology

[0002] In modern life, people frequently face various scenarios that require the body to bear prolonged loads, primarily manifested in daily life as prolonged walking, frequent climbing, and lifting heavy objects. Prolonged walking, including during travel, easily leads to hip and ankle fatigue; climbing stairs, for example, can easily cause knee joint damage; and carrying objects due to daily activities or work requirements can easily cause back and waist injuries. This is especially true for the elderly, whose physical strain from these activities is far greater than that experienced by younger people. With the increasing aging of society, how to assist with these daily activities and reduce the physical burden has become an urgent social need.

[0003] Exoskeleton robots, as wearable devices, provide additional assistance to wearers through their mechanical structure and power system. They enhance walking ability while effectively distributing pressure on the body, reducing the risk of joint wear and muscle strain. Furthermore, based on different structural optimization designs, they can assist multiple joints in the human body, making them an effective and emerging assistive device.

[0004] Existing exoskeleton robot systems partially utilize articulated motors as a power source. For example, the hip and knee joint assistive robot disclosed in patent CN119973959A provides effective and accurate assistance to the hip and knee joints through articulated motors. However, such devices require high control requirements to achieve a flexible torque output suitable for the human body, and also require a large number of motors, resulting in high costs. In addition, the assistance parts of current exoskeleton robot systems are highly fixed, making it difficult to conveniently and accurately assist multiple parts. On the other hand, a multifunctional exoskeleton robot disclosed in patent CN119839836A provides all-round assistance to the lower limbs, but its structure is complex and the device is heavy, making it unsuitable for daily use. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wearable human assistive device. This device uses a single motor to drive a series elastic actuator to achieve auxiliary torque output under flexible force control. It can also utilize different end-effector structures depending on the usage scenario, thereby achieving precise assistance for the back, hip, knee, and ankle in various situations. Simultaneously, the use of a single motor as the drive source, combined with an effective structural design, reduces the weight of the device, thereby reducing body load and improving work efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A wearable human assistive device includes a series elastic actuator, an end-effector structure, a rope transmission mechanism, and pulleys. The pulleys are mounted on the series elastic actuator and the end-effector structure. The series elastic actuator drives the end-effector structure through the rope transmission mechanism. The series elastic actuator includes a drive motor, a lead screw, springs, a spring mounting frame, a pulley mounting bracket one, a pulley mounting bracket two, and a lead screw nut. The output end of the drive motor is connected to the lead screw, and the lead screw nut is threaded onto the lead screw. Two springs pass through the lead screw and are placed within the spring mounting frame. The lead screw nut is located between the two springs. The pulley mounting bracket one and the pulley mounting bracket two are respectively connected to the left and right sides of the spring mounting frame, and pulleys are mounted on the pulley mounting bracket one and the pulley mounting bracket two.

[0007] The end-effector structure includes a hip structure, a knee structure, an ankle structure, and a back structure.

[0008] The end-effector structure is a hip structure, which includes a hip connection structure and a leg assist structure. The hip connection structure includes a hip connection frame, an inner pulley frame, an inner connecting plate, a middle connecting block, a first drive wheel, and a drive arm. The hip connection frame is connected to a series elastic actuator. The inner pulley frame and the middle connecting block are connected to the inner side of the hip connection frame. The inner connecting plate is installed on the middle connecting block. One side of the drive arm is connected to the first drive wheel. This side of the drive arm and the first drive wheel are installed in the space formed by the end of the hip connection frame and the inner connecting plate and are connected to the end of the hip connection frame and the end of the inner connecting plate respectively through bearings on both sides.

[0009] The leg assist structure includes a swing rod connector, a leg bend tube, a leg support, a rotating fixing component, and a leg connecting plate. The swing rod connector is rotatably connected to the drive arm via a copper sleeve. One end of the leg bend tube is rotatably connected to the swing rod connector. The leg support, the rotating fixing component, and the leg connecting plate are interconnected. The other side of the leg bend tube passes through the space formed by the leg support and the rotating fixing component. The rotating fixing component has a stop. After the leg bend tube is inserted into the rotating fixing component, it is restricted by the stop. The leg assist structure has multiple degrees of freedom. The first degree of freedom is the rotation of the swing rod joint around the drive arm; the second degree of freedom is the rotation of the leg bend tube around the swing rod joint; and the third degree of freedom is the rotation of the leg support and the rotating fixing component around the end of the leg bend tube.

[0010] The end-effector structure is a knee structure, which includes a thigh support plate, a joint bearing support frame, a second drive wheel, and a calf support component. The thigh support plate is equipped with a Bowden wire connector for connection to the Bowden wire led out by the series elastic actuator. There are four joint bearing support frames in total, of which two external joint bearing support frames are connected to both ends of the thigh support plate, and two internal joint bearing support frames are connected to the corresponding external joint bearing support frames. The second drive wheel is installed in the space between the two joint bearing support frames and is connected to each other through bearings. The calf support component is connected to the inside of the two second drive wheels.

[0011] The end-effector structure is an ankle structure, which includes a calf side plate, an ankle connector, a foot side plate, a foot connecting plate, a heel connecting plate, a pull rope device, and an auxiliary connecting plate. The two calf side plates are connected by the ankle connector. The upper parts of the two foot side plates are connected to the two calf side plates respectively by bearings. The lower parts of the two foot side plates are connected to each other by the foot connecting plate. The heel connecting plate is installed on the two foot side plates. A pull rope device is installed in the middle of the heel connecting plate for connecting to the Bowden wire led out by the series elastic actuator. The auxiliary connecting plate is connected to a calf side plate and is equipped with a Bowden wire end for connecting to the Bowden wire led out by the series elastic actuator.

[0012] The end-effector structure is a back structure, which includes a hip connection structure, a leg assist structure, and a back-wearing structure. The hip connection structure of the back structure is the same as the hip connection structure in the hip structure, and the leg assist structure of the back structure is the same as the leg assist structure in the hip structure. The back-wearing structure includes a back-heightening carbon tube, a telescopic carbon tube, and a vest. There are two back-heightening carbon tubes, which are fixed to the upper side of the series elastic actuator. The telescopic carbon tube is connected to the back-heightening carbon tube with bolts and uses multiple mounting holes to achieve height adjustment. The vest is installed on the telescopic carbon tube and the back-heightening carbon tube through shoulder straps and a waist belt, respectively.

[0013] The end-effector structure is a hip structure. The rope transmission mechanism includes differential rope one and differential rope two. The pulleys are installed in the series elastic actuator and the hip structure. Differential rope one passes through the pulley in pulley mounting frame one, is led out from the series elastic actuator, passes through the pulley in the hip structure, and its two ends are respectively connected to ends A and B on the left and right first drive wheels. Differential rope two passes through the pulley in pulley mounting frame two, is led out from the series elastic actuator, passes through the pulley in the hip structure, and its two ends are respectively connected to ends B and A on the left and right first drive wheels.

[0014] The end-effector structure is a knee structure. The rope drive mechanism includes differential rope one, differential rope two, Bowden line, and Bowden line end. The rope drive mechanism in the series elastic actuator is the same as the rope drive mechanism in the hip structure. Bowden line ends are used for connection at the rope outlet. The Bowden line ends are connected to the lower knee structure through four Bowden lines. The end-effector rope drive mechanism is the same as the rope drive mechanism in the hip structure. The two ends of the same rope are connected to different ends of the second drive wheel at the end. When the end-effector structure is an ankle structure, the rope drive mechanism of the ankle structure is the same as the rope drive mechanism of the knee structure.

[0015] The end-assist structure is a back structure. The rope transmission mechanism includes a differential rope, pulleys are installed in the series elastic actuator and the back structure. The differential rope passes around the pulley in the pulley mounting bracket two, is led out from the series elastic actuator, passes through the pulley in the back structure, and is connected at both ends to end A on the left and right drive wheels.

[0016] In summary, this invention offers the following advantages: It achieves auxiliary torque output under flexible force control through a series elastic actuator driven by a single motor (with bidirectional assist output achieved by pulley systems on both sides), and transmits the assistance to the end-effector of the system via a rope. Different end-effectors can be used depending on the application scenario, thus enabling precise assistance to the back, hip, knee, and ankle in various situations. This significantly reduces the active force exerted by the human muscle groups in scenarios such as assisted walking, climbing, and carrying, thereby reducing physical load and improving work efficiency. Simultaneously, the use of a single motor as the drive source, combined with an effective structural design, reduces the weight of the equipment, further reducing physical load and improving work efficiency. Attached Figure Description

[0017] Figure 1 This is a three-dimensional view of a series elastic actuator.

[0018] Figure 2 This is a cross-sectional view of a series elastic actuator.

[0019] Figure 3 This is a partial 3D view of a series elastic actuator.

[0020] Figure 4 This is a schematic diagram of the hip structure of Example 1 worn by a user.

[0021] Figure 5 This is a first perspective view of the hip structure in Example 1.

[0022] Figure 6 This is a second perspective view of the hip structure in Example 1.

[0023] Figure 7This is a cross-sectional view of the hip structure of Embodiment 1, showing the fit of the leg bend, leg support, and rotating fastener.

[0024] Figure 8 This is a perspective view of the rotating fastener of the hip structure in Example 1.

[0025] Figure 9 This is a perspective view of the rope drive mechanism of the hip structure in Example 1.

[0026] Figure 10 This is a perspective view of the differential rope one and differential rope two of the rope transmission mechanism of the hip structure in Example 1.

[0027] Figure 11 This is a perspective view of the differential rope two of the rope transmission mechanism of the hip structure in Example 1.

[0028] Figure 12 This is a perspective view of the differential rope one of the rope transmission mechanism of the hip structure in Example 1.

[0029] Figure 13 This is a schematic diagram of the knee structure of Example 2 worn by a user.

[0030] Figure 14 This is a first perspective view of the knee structure of Example 2.

[0031] Figure 15 This is a second perspective view of the knee structure in Example 2.

[0032] Figure 16 This is a perspective view of the rope transmission mechanism of the knee structure in Example 2.

[0033] Figure 17 This is a schematic diagram of the ankle structure of Example 3 worn by the user.

[0034] Figure 18 This is a first perspective view of the ankle structure in Example 3.

[0035] Figure 19 This is a second perspective view of the ankle structure in Example 3.

[0036] Figure 20 This is a schematic diagram of the back structure of Example 4 worn by the user.

[0037] Figure 21 This is a perspective view of the back structure of Example 4.

[0038] Figure 22 This is a perspective view of the rope transmission mechanism of the back structure in Example 4.

[0039] Figure 23 A schematic diagram of four end-effector structures applied to a series elastic actuator.

[0040] Reference numerals: Base plate 1, Drive motor 2, Coupling 3, Lead screw 4, Spring 5, Linear encoder 6, Spring mounting frame 7, Mounting plate one 8, Mounting plate two 9, Mounting plate three 10, Small linear guide rail 11, Large linear guide rail 12, Motor base 13, Lead screw seat one 14, Lead screw seat two 15, Pulley mounting bracket one 16, Pulley mounting bracket two 17, Lead screw nut 18, Hip connecting bracket 101, Inner pulley bracket 102, Inner connecting plate 103, Middle connecting block 104, First drive wheel 105, Drive arm 106, First rotary encoder 107, First encoder mounting plate 108, Copper sleeve 109, Swing rod joint 110, Leg bend tube 111, Leg support 112, Rotary fixing part 113, Stop 1131, Leg connecting plate 114, Leg pad 115, Waist belt 11 6. Power supply 117. Controller 118. Thigh support plate 201. Thigh pad 202. Joint bearing support frame 203. Second drive wheel 204. Limiting block 205. Lower leg support component 206. Lower leg connector 207. Pad support 208. Lower leg pad 209. Second rotary encoder 210. Second encoder mounting plate 211. Lower leg side plate 301. Strap connector 302. Ankle connector 303. Foot side plate 304. Foot connecting plate 305. Heel connecting plate 306. Pull rope device 307. Auxiliary connecting plate 308. Third rotary encoder mounting plate 309. Back height-increasing carbon tube 401. Telescopic carbon tube 402. Wearing vest 403. Bowden thread end 5. Differential rope one 6. Differential rope two 61. Differential rope 62. Auxiliary height-increasing plate 7. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1 Reference Figures 1-12 As shown, a wearable human assistive device includes a series elastic actuator, an end-effector structure, a rope transmission mechanism, a pulley, a power supply 117, and a controller 118. The series elastic actuator drives the motor 2 and the final end-effector structure in series.

[0043] like Figures 1-3The series elastic actuator includes a base plate 1, a drive motor 2, a coupling 3, a lead screw 4, a spring 5, a linear encoder 6, a spring mounting frame 7, mounting plate one 8, mounting plate two 9, mounting plate three 10, a small linear guide rail 11, a large linear guide rail 12, a motor base 13, a lead screw base one 14, a lead screw base two 15, a pulley mounting bracket one 16, and a pulley mounting bracket two 17. The entire structure of the series elastic actuator is installed inside the base plate 1. The motor base 13, lead screw base one 14, lead screw base two 15, and large linear guide rail 12 are directly connected to the base plate 1. The drive motor 2 is connected to the motor base 13. The output shaft of the drive motor 2 is connected to the lead screw 4 through the coupling 3. Both ends of the lead screw 4 are connected by bearings. On lead screw seat 14 and lead screw seat 2 15; two springs 5 ​​pass through lead screw 4 and are placed inside spring mounting frame 7. Lead screw nut 18 is located between the two springs 5 ​​and is slightly compressed by the two springs 5 ​​in the initial state to ensure structural reliability; spring mounting frame 7 is connected to the slider of large linear guide rail 12. Mounting plate 1 8, mounting plate 2 9, pulley mounting bracket 1 16, and pulley mounting bracket 2 17 are respectively connected to the upper, lower, left, and right sides of spring mounting frame 7; the magnetic grating reading head of linear encoder 6 is connected to mounting plate 1 8, and small linear guide rail 11 is connected to mounting plate 2 9; the magnet of linear encoder 6 is pasted on mounting plate 3 10, and mounting plate 3 10 is connected to the slider of small linear guide rail 11.

[0044] like Figure 23 As shown, the series elastic actuator can be applied to four different end-effector structures, namely hip structure, knee structure, ankle structure and back structure. In this embodiment, the end-effector structure is the hip structure.

[0045] like Figures 4-8 The hip structure includes a hip connection structure and a leg assist structure.

[0046] The series elastic actuator is connected to the user's waist via a waist belt 116. The hip connection structure includes a hip connection frame 101, an inner pulley frame 102, an inner connecting plate 103, a middle connecting block 104, a first drive wheel 105, a drive arm 106, a first rotary encoder 107, and a first encoder mounting plate 108. The hip connection frame 101 is directly connected to the base plate 1. The middle connecting block 104 and the inner pulley frame 102 are both connected to the inside of the hip connection frame 101. The inner connecting plate 103 is mounted on the middle connecting block 104. The first encoder mounting plate 108 is connected to the outer end of the hip connection frame 101. One side of the drive arm 106 is connected to the first drive wheel 105. This part is also installed in the space formed by the end of the hip connection frame 101 and the end of the inner connecting plate 103. The three parts are connected and relatively fixed by bearings on both sides.

[0047] The leg-assist structure includes a swing rod connector 110, a leg bend tube 111, a leg support 112, a rotating fixing member 113, a leg connecting plate 114, and a leg pad 115. The swing rod connector 110 is rotatably connected to the drive arm 106 via a copper sleeve 109. One end of the leg bend tube 111 is rotatably connected to the swing rod connector 110. The leg support 112, the rotating fixing member 113, and the leg connecting plate 114 are interconnected, specifically, the rotating fixing member 113 is fixedly connected to the leg connecting plate 114, and the leg support 112 is fixedly connected to the rotating fixing member 113. The other side of the leg bend tube 111 passes through the space formed by the leg support 112 and the rotating fixing member 113. The rotating fixing member 113 has a stop 1131. After one side of the leg bend tube 111 is inserted into the rotating fixing member 113, it is restricted by the stop 1131 and cannot be pulled out, but the stop 1131 does not restrict the rotation of the leg bend tube 111. The leg pads 115 are attached to the inside of the leg connecting plate 114 to ensure wearing comfort.

[0048] The leg-assisting structure has multiple degrees of freedom to meet wearing comfort: Degree of freedom one is the rotational degree of freedom of the swing rod joint 110 and the drive arm 106 around the whole system; Degree of freedom two is the radial rotational degree of freedom of the leg support 112 and the leg pad 115 around the end of the leg bend tube 111 (i.e., the leg bend tube 111 rotates around the swing rod joint 110); Degree of freedom three is the axial rotational degree of freedom of the leg support 112 and the leg pad 115 around the end of the leg bend tube 111 (i.e., the end of the leg bend tube 111 rotates around the space formed by the leg support 112 and the rotating fixing member 113).

[0049] like Figures 9-12 The rope transmission mechanism includes a differential rope 6, a differential rope 61, and pulleys. The pulleys are installed in a series elastic actuator and a hip structure. The differential rope 6 passes through the pulley in the pulley mounting bracket 16 and is led out from the series elastic actuator, through the base plate 1 and the pulleys in the hip structure, and its two ends are respectively connected to ends A and B on the left and right first drive wheels 105. The differential rope 61 passes through the pulley in the pulley mounting bracket 17 and is led out from the series elastic actuator, through the base plate 1 and the pulleys in the hip structure, and its two ends are respectively connected to ends B and A on the left and right first drive wheels 105. This ensures that the left and right actuators move alternately during the driving assistance process, realizing the process of assisted walking and climbing.

[0050] The auxiliary height-increasing plate 7 is connected to the base plate 1, and the waist belt 116 is connected to the auxiliary height-increasing plate 7. The waist belt 116 can be height-adjusted during installation to accommodate users of different body types.

[0051] Example 2 Compared with Embodiment 1, the same series elastic actuator, power supply 117, and controller 118 were used, the difference being the use of different end-effector structure and rope drive mechanism.

[0052] The end-effector structure is a knee-type structure.

[0053] like Figures 13-15 The knee structure includes a thigh support plate 201, a thigh pad 202, a joint bearing support frame 203, a second drive wheel 204, a limiting block 205, a calf support component 206, a calf connector 207, a pad support 208, a calf pad 209, a second rotary encoder 210, and a second encoder mounting plate 211. The thigh support plate 201 is composed of five carbon plates connected by corner brackets. A Bowden wire head 5 is installed on the middle carbon plate for connecting to the Bowden wire 51 led out from the series elastic actuator worn at the waist, thereby providing an assist source for the knee structure. The thigh pad 202 is also installed to ensure wearing comfort. There are four joint bearing support frames 203, divided into an outer left side, an inner left side, an outer right side, and an inner right side. The two outer joint bearing support frames 203 are connected to the two carbon plates at the ends of the thigh support plate 201, respectively. Two internal joint bearing support frames 203 are respectively connected to corresponding external joint bearing support frames 203; a limiting block 205 is installed inside the external joint bearing support frame 203 to limit the maximum rotation of the structure and ensure the safety of the wearer; a second drive wheel 204 is installed in the space between the two joint bearing support frames 203 and is connected to each other using bearings; both sides of the lower leg support members 206 are connected inside the second drive wheel 204 and are connected to each other using a lower leg connector 207; a pad support 208 is installed on the lower leg connector 207 and is connected to the lower leg connector 207 by a single bolt to achieve its rotational freedom and ensure wearing comfort; a second rotary encoder 210 is connected to the outside of one side of the joint bearing support frame 203 through a second encoder mounting plate 211.

[0054] like Figure 16 The rope transmission mechanism includes a differential rope 1 6, a differential rope 2 61, a pulley, a Bowden line 51, and a Bowden line end 5. The rope transmission mechanism in the series elastic actuator is the same as that in the hip structure of Embodiment 1, except that the Bowden line end 5 is used for connection at the rope outlet. The Bowden line end 5 is connected to the lower knee structure through four Bowden lines 51. The end rope connection method is the same as that in the hip structure of Embodiment 1, that is, the two ends of the same rope are connected to different sides of the second drive wheel 204 at the end, so as to ensure that the two sides of the actuator achieve alternating movement during the drive assistance process.

[0055] Example 3 Compared with Embodiment 1, the same series elastic actuator, power supply 117, and controller 118 were used, the difference being the use of different end-effector structure and rope drive mechanism.

[0056] The end-effector structure is an ankle structure.

[0057] like Figures 17-19 The ankle structure includes a calf side plate 301, a strap connector 302, an ankle connector 303, a foot side plate 304, a foot connecting plate 305, a heel connecting plate 306, a pull rope device 307, an auxiliary connecting plate 308, and a third rotary encoder mounting plate 309. The calf side plate 301 is divided into left and right sections, connected in the middle by the ankle connector 303, with a strap connector 302 installed at the connection point for subsequent wearing. The foot side plate 304 is also divided into left and right sections, with its upper part connected to the left and right calf side plates 301 respectively via bearings, and its lower part connected by two foot connecting plates 306. 5. Interconnected; the heel connecting plate 306 is installed on the two foot side plates 304, and a pull rope device 307 is installed in the middle for connecting to the Bowden line 51 led out from the series elastic actuator of the waist, thereby providing an assist source for the ankle; in order to achieve bidirectional assistance, an auxiliary connecting plate 308 is installed on the left side of the left foot and the right side of the right foot respectively. The auxiliary connecting plate 308 is equipped with the Bowden line head 5 and connected to another Bowden line 51 led out from the series elastic actuator of the waist, thereby achieving assistance to the ankle in another direction; the rotary encoder is connected to the outside of one side bearing through the third rotary encoder mounting plate 309.

[0058] The rope drive mechanism is the same as the rope drive mechanism of the knee structure in Embodiment 2.

[0059] Example 4 Compared with Embodiment 1, the same series elastic actuator, power supply 117, and controller 118 were used, the difference being the use of different end-effector structure and rope drive mechanism.

[0060] The end-support structure is a back structure. In this case, the auxiliary height-increasing plate 7 and waist belt 116 of Example 1 are not required. The pulley mounting bracket 16 is not used at this time.

[0061] like Figures 20-21 The back structure includes a hip connection structure, a leg assist structure, and a back-wearing structure.

[0062] The hip connection structure is based on the same principle as the hip connection structure in Embodiment 1, and the leg assist structure is based on the same principle as the leg assist structure in the hip structure in Embodiment 1.

[0063] The back-wearing structure includes a back-heightening carbon tube 401, a telescopic carbon tube 402, and a wearable vest 403.

[0064] There are two back height-increasing carbon tubes 401, which are connected to the upper side of the series elastic actuator using high-strength corner fittings; the telescopic carbon tube 402 is connected to the back height-increasing carbon tube 401 with bolts and uses multiple mounting holes to achieve height adjustment; the wearable vest 403 is installed on the telescopic carbon tube 402 and the back height-increasing carbon tube 401 respectively through shoulder straps and waist belt.

[0065] like Figure 22 The rope transmission mechanism includes a differential rope 62 and a pulley; the pulley is installed in the series elastic actuator and the back structure; the differential rope 62 passes around the pulley in the pulley mounting bracket 17 and is led out from the series elastic actuator, passes through the base plate 1 and the pulley in the back structure, and both ends are connected to end A on the left and right drive wheels; this ensures that the direction of human force is the same during the assistance and lifting of heavy objects, thereby reducing the load on the human body.

[0066] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A wearable human assistive device, characterized in that, The device includes a series elastic actuator, an end-effector structure, a rope transmission mechanism, and pulleys. The pulleys are mounted on the series elastic actuator and the end-effector structure. The series elastic actuator drives the end-effector structure through the rope transmission mechanism. The series elastic actuator includes a drive motor (2), a lead screw (4), a spring (5), a spring mounting frame (7), a pulley mounting bracket one (16), a pulley mounting bracket two (17), and a lead screw nut (18). The output end of the drive motor (2) is connected to the lead screw (4). The lead screw nut (18) is threaded onto the lead screw (4). Two springs (5) pass through the lead screw (4) and are placed inside the spring mounting frame (7). The lead screw nut (18) is located between the two springs (5). The pulley mounting bracket one (16) and the pulley mounting bracket two (17) are respectively connected to the left and right sides of the spring mounting frame (7). The pulleys are mounted on the pulley mounting bracket one (16) and the pulley mounting bracket two (17).

2. The wearable human assistive device according to claim 1, characterized in that, The end-effector structure includes a hip structure, a knee structure, an ankle structure, and a back structure.

3. The wearable human assistive device according to claim 1, characterized in that, The end-assist structure is a hip structure, which includes a hip connection structure and a leg assist structure. The hip connection structure includes a hip connection frame (101), an inner pulley frame (102), an inner connecting plate (103), a middle connecting block (104), a first drive wheel (105), and a drive arm (106). The hip connection frame (101) is connected to a series elastic actuator. The inner pulley frame (102) and the middle connecting block (104) are connected to the inner side of the hip connection frame (101). The inner connecting plate (103) is installed on the middle connecting block (104). One side of the drive arm (106) is connected to the first drive wheel (105). This side of the drive arm (106) and the first drive wheel (105) are installed in the space formed by the ends of the hip connection frame (101) and the inner connecting plate (103) and are connected to the ends of the hip connection frame (101) and the inner connecting plate (103) respectively by bearings on both sides.

4. A wearable human assistive device according to claim 3, characterized in that, The leg assist structure includes a swing rod connector (110), a leg bend tube (111), a leg support (112), a rotating fixing member (113), and a leg connecting plate (114). The swing rod connector (110) is rotatably connected to the drive arm (106) through a copper sleeve (109). One end of the leg bend tube (111) is rotatably connected to the swing rod connector (110). The leg support (112), the rotating fixing member (113), and the leg connecting plate (114) are interconnected. The other side of the leg bend tube (111) passes through the space formed by the leg support (112) and the rotating fixing member (113). The rotating fixing member (113) has a stop (1131). After the leg bend tube (111) is inserted into the rotating fixing member (113), it is restricted by the stop (1131). The leg assist structure has multiple degrees of freedom. The first degree of freedom is the degree of freedom of the swing rod joint (110) to rotate around the drive arm (106); the second degree of freedom is the degree of freedom of the leg bend tube (111) to rotate around the swing rod joint (110); and the third degree of freedom is the degree of freedom of the leg support (112) and the rotating fixing part (113) to rotate around the end of the leg bend tube (111).

5. A wearable human assistive device according to claim 1, characterized in that, The end-effector structure is a knee structure, which includes a thigh support plate (201), a joint bearing support frame (203), a second drive wheel (204), and a calf support member (206). The thigh support plate (201) is equipped with a Bowden wire head (5) for connection to the Bowden wire (51) led out by the series elastic actuator. There are four joint bearing support frames (203), of which two external joint bearing support frames (203) are connected to both ends of the thigh support plate (201) respectively, and two internal joint bearing support frames (203) are connected to the corresponding external joint bearing support frames (203) respectively. The second drive wheel (204) is installed in the space between the two joint bearing support frames (203) and connected to each other through bearings. The calf support member (206) is connected to the inside of the two second drive wheels 204.

6. A wearable human assistive device according to claim 1, characterized in that, The end-support structure is an ankle structure, which includes a lower leg side plate (301), an ankle connector (303), a foot side plate (304), a foot connecting plate (305), a heel connecting plate (306), a pull rope device (307), and an auxiliary connecting plate (308). The two lower leg side plates (301) are connected by the ankle connector (303), and the upper parts of the two foot side plates (304) are respectively connected to the two lower leg side plates (301) by bearings. 04) The lower part is connected to each other by foot connecting plate (305). The heel connecting plate (306) is installed on the two foot side plates (304). The middle of the heel connecting plate (306) is equipped with a pull rope device (307) for connecting with the Bowden line (51) led out by the series elastic actuator. The auxiliary connecting plate (308) is connected to the lower leg side plate (301). The auxiliary connecting plate (308) is equipped with a Bowden line head (5) for connecting with the Bowden line (51) led out by the series elastic actuator.

7. A wearable human assistive device according to claim 2, characterized in that, The end-effector structure is a back structure, which includes a hip connection structure, a leg assist structure, and a back-wearing structure. The hip connection structure of the back structure is the same as the hip connection structure in the hip structure, and the leg assist structure of the back structure is the same as the leg assist structure in the hip structure. The back-wearing structure includes a back-heightening carbon tube (401), a telescopic carbon tube (402), and a vest (403). There are two back-heightening carbon tubes (401) and they are fixed to the upper side of the series elastic actuator. The telescopic carbon tube (402) and the back-heightening carbon tube (401) are connected by bolts and multiple mounting holes are used to achieve height adjustment. The vest (403) is installed on the telescopic carbon tube (402) and the back-heightening carbon tube (401) respectively through shoulder straps and waist belt.

8. A wearable human assistive device according to claim 1, characterized in that, The end-effector structure is a hip structure. The rope transmission mechanism includes differential rope one (6) and differential rope two (61). The pulley is installed in the series elastic actuator and the hip structure. Differential rope one (6) passes through the pulley in pulley mounting bracket one (16) and is led out from the series elastic actuator. It passes through the pulley in the hip structure and its two ends are respectively connected to ends A and B on the left and right first drive wheels (105). Differential rope two (61) passes through the pulley in pulley mounting bracket two (17) and is led out from the series elastic actuator. It passes through the pulley in the hip structure and its two ends are respectively connected to ends B and A on the left and right first drive wheels (105).

9. A wearable human assistive device according to claim 8, characterized in that, The end-effector structure is a knee structure. The rope drive mechanism includes differential rope one (6), differential rope two (61), Bowden line (51), and Bowden line head (5). The rope drive mechanism in the series elastic actuator is the same as the rope drive mechanism in the hip structure. Bowden line head (5) is used to connect at the rope outlet. The Bowden line head (5) is connected to the lower knee structure through four Bowden lines (51). The end-effector rope drive mechanism is the same as the rope drive mechanism in the hip structure. The two ends of the same rope are connected to different ends of the second drive wheel (204) at the end. When the end-effector structure is an ankle structure, the rope drive mechanism of the ankle structure is the same as the rope drive mechanism of the knee structure.

10. A wearable human assistive device according to claim 1, characterized in that, The end-assist structure is a back structure. The rope transmission mechanism includes a differential rope (62), a pulley installed in the series elastic actuator and the back structure. The differential rope (62) passes around the pulley in the pulley mounting bracket two (17) and is led out from the series elastic actuator. It passes through the pulley in the back structure and both ends are connected to end A on the left and right drive wheels.

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